Title :
Time Independent Tracking Using 2-D Movement Flow-Based Visual Servoing
Author :
Pomares, Jorge ; Torres, Fernando
Author_Institution :
Department of Physics, System Engineering and Signal Theory University of Alicante P.O. Box 99 03080 Alicante, Spain jpomares@ua.es
Abstract :
In this paper, the so-called 2-D movement flow-based visual servoing system is proposed, which allows the tracking of trajectories planned in the image space. This method is time-independent, which is useful when problems such as obstructions occur during the tracking. This method allows the tracking of image trajectories assuring the correct behaviour in the 3-D space and avoiding the limitations of the time-dependent systems used up to now for tracking trajectories. This aspect has allowed its application to manipulation tasks in which the trajectory can be obstructed during the tracking.
Keywords :
2-D visual servoing; eye-in-hand system; positioning tasks; tracking trajectories; vector field; Cameras; Convergence; Noise robustness; Orbital robotics; Path planning; Physics; Systems engineering and theory; Target tracking; Trajectory; Visual servoing; 2-D visual servoing; eye-in-hand system; positioning tasks; tracking trajectories; vector field;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570495